CN109466778B - Method for controlling pitching and rolling postures of ejection seat based on posture parameter derivation - Google Patents
Method for controlling pitching and rolling postures of ejection seat based on posture parameter derivation Download PDFInfo
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- CN109466778B CN109466778B CN201811319506.3A CN201811319506A CN109466778B CN 109466778 B CN109466778 B CN 109466778B CN 201811319506 A CN201811319506 A CN 201811319506A CN 109466778 B CN109466778 B CN 109466778B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D25/00—Emergency apparatus or devices, not otherwise provided for
- B64D25/08—Ejecting or escaping means
- B64D25/10—Ejector seats
Abstract
The invention belongs to the field of ejection lifesaving, and relates to an ejection seat pitching based on attitude parameter derivationA roll attitude control method. By adjusting the posture of the seat, the total sky-direction impulse of the rocket package thrust is maximized, and the motion trail of the seat is improved as much as possible; on the basis of an ejection seat with a roll attitude rocket, a pair of pitching rockets is added for providing pitching moment required by attitude adjustment, and the roll angular velocity coefficient C in the sky component A and the first derivative of A of a rocket package is calculated in real timeczPitch angle rate coefficient CfyThe working time of the rocket bag, the roll rocket and the pitching rocket is controlled, the movement track of the seat ejected out of the cabin under various working conditions is integrally improved, and the lifesaving performance of the unfavorable posture of the seat is improved.
Description
Technical Field
The invention belongs to the field of ejection lifesaving, and relates to an ejection seat pitching and rolling attitude control method based on attitude parameter derivation.
Background
The single-roll-degree-of-freedom attitude control technology is mostly adopted for the ejection seat, roll attitude rockets are installed on the left side and the right side of the ejection seat, and the seat attitude is adjusted by controlling the working time of two roll rockets, so that the lifesaving performance of the seat in unfavorable attitudes is improved. The single-roll-degree-of-freedom attitude control improves the lifesaving performance of the ejection seat, but the problem of ejection lifesaving of unfavorable attitude with a large pitch angle cannot be solved, and the single-roll-degree-of-freedom attitude control technology has limitations.
Disclosure of Invention
The invention aims to provide the following steps: in order to overcome the limitation of the attitude control of the single roll degree of freedom of the ejection seat and solve the ejection lifesaving problem of the unfavorable attitude with a large pitch angle, the invention provides the ejection seat pitch roll attitude control method based on attitude parameter derivation, which can effectively improve the lifesaving performance of the seat in the unfavorable attitude at low speed.
The technical scheme of the invention is as follows: a control method of pitching and rolling postures of an ejection seat based on posture parameter derivation maximizes the total impulse of the rocket package thrust in the sky by adjusting the posture of the seat, and improves the motion trail of the seat as much as possible; the method is characterized in that: on the basis of an ejection seat with a roll attitude rocket, a pair of pitching rockets, namely a positive pitching rocket and a positive roll rocket, is added for providing pitching moment required by attitude adjustment, and the attitude of the seat is measured by a rocket package sky direction component A, and the value range is-1 to 1;
obtaining the roll angular velocity w from the first derivative expression of AxCoefficient CczAngular pitch wzCoefficient CfyAfter the ejection is started, according to the size of A and coefficient Ccz、CfyThe positive and negative control attitude rocket opening time specifically comprises the following control modes:
when C is presentcz>0, the positive rolling rocket works to make wx>0；
When C is presentcz<0, the negative rolling rocket works to make wx<0；
Thereby making the roll angular velocity component C in the derivative Aczwx>0. In the same way as above, the first and second,
when C is presentfy>0, positive pitching rocket works, so that wz>0；
When C is presentfy<0, the negative pitching rocket works to enable wz<0；
Thereby imparting a derivative of the A with a pitch velocity component Cfywz>0；
When the attitude advantage of the seat exceeds a certain limit, the rocket package can push up the motion trail of the seat, namely A is larger than a certain critical value LA1The rocket bag starts to work; on the contrary, A is smaller than the critical value LA1Rocket package not in operation, wherein LA1Represents a critical value related to rocket packet control, has a value range of 0 to 1, and is related to the model of the seat.
The positive pitching rocket is arranged below the chair basin and has a direction vertical to the horizontal plane upwards, the negative pitching rocket is arranged behind the chair back and has a direction along the axial system O of the chair bodytXtThrust F of shaft and rocketfyArm of force Lfy。
The positive rolling rocket is arranged on the left side of the seat and has the direction along the Z axis of the axial system of the seat, the negative rolling rocket is arranged on the right side of the seat and has the direction along the-Z axis of the axial system of the seat, and the thrust FczArm of force Lcz。
The attitude parameter A is derived, and a pitch angle speed coefficient C is obtained in a first derivative expression of the AfyCoefficient of roll angular velocity CczAnd calculating the positive and negative of the coefficient in real time, and controlling the working start time of the positive and negative pitching rockets according to the positive and negative of the coefficient.
The invention has the following positive effects: providing a method based on attitude parameter derivationThe method for controlling the pitching and rolling postures of the ejection seat calculates the sky-direction component A of the rocket package in real time and the roll angular velocity coefficient C in the first derivative of the component AczPitch angle rate coefficient CfyThe working time of the rocket bag, the roll rocket and the pitching rocket is controlled, the movement track of the seat ejected out of the cabin under various working conditions is integrally improved, and the lifesaving performance of the unfavorable posture of the seat is improved.
Drawings
FIG. 1 is a schematic view of the installation position of each power rocket of the invention
FIG. 2 is a logic diagram of rocket packet control according to the present invention
FIG. 3 is the logic block diagram of the roll rocket control of the present invention
FIG. 4 is a logic block diagram of the control of the pitching rocket in accordance with the present invention
Detailed Description
The present invention is described in further detail below.
A control method of pitching and rolling postures of an ejection seat based on posture parameter derivation maximizes the total impulse of the rocket package thrust in the sky by adjusting the posture of the seat, and improves the motion trail of the seat as much as possible; the method is characterized in that: on the basis of an ejection seat with a roll attitude rocket, a pair of pitching rockets is added for providing pitching moment required by attitude adjustment, the attitude of the seat is measured by a rocket package natural component A (the relative magnitude of the rocket package thrust in the natural component and the total thrust), the value range is-1 to 1, the larger the parameter A is, the more obvious the rocket package thrust has the effect of pushing the seat high, the more excellent the attitude of the seat is, so that the derivative of the parameter A is obtained, and the first derivative of A is always larger than 0 by controlling each attitude rocket, so that the aim of adjusting the attitude of the seat can be fulfilled.
Derivative is carried out on A, and the roll angular velocity w is obtained from the first derivative expression of AxCoefficient CczAngular pitch wzCoefficient Cfy. After the ejection is started, according to the size of A and coefficient Ccz、CfyThe starting time of the attitude rocket is controlled positively and negatively. The specific control mode is as follows:
when C is presentcz>0, positive cross fireWorking of the arrow, let wx>0；
When C is presentcz<0, the negative rolling rocket works to make wx<0；
Thereby making the roll angular velocity component C in the derivative Aczwx>0. In the same way as above, the first and second,
when C is presentfy>0, positive pitching rocket works, so that wz>0；
When C is presentfy<0, the negative pitching rocket works to enable wz<0；
Thereby imparting a derivative of the A with a pitch velocity component Cfywz>0。
When the attitude advantage of the seat exceeds a certain limit, the rocket package can push up the motion trail of the seat, namely A is larger than a certain critical value LA1The rocket bag starts to work; on the contrary, A is smaller than the critical value LA1Rocket package not in operation, wherein LA1The critical value related to rocket packet control is represented, the value range is 0 to 1, and the critical value is related to the model of the seat;
the positive pitching rocket is arranged below the chair basin and has a direction vertical to the horizontal plane upwards, the negative pitching rocket is arranged behind the chair back and has a direction along the axial system O of the chair bodytXtThrust F of shaft and rocketfy. Arm of force Lfy；
The positive rolling rocket is arranged on the left side of the seat and has the direction along the Z axis of the axial system of the seat, the negative rolling rocket is arranged on the right side of the seat and has the direction along the-Z axis of the axial system of the seat, and the thrust FczArm of force Lcz；
The attitude parameter A is derived, and a pitch angle speed coefficient C is obtained in a first derivative expression of the AfyCoefficient of roll angular velocity CczAnd calculating the positive and negative of the coefficient in real time, and controlling the working start time of the positive and negative pitching rockets according to the positive and negative of the coefficient.
The stabilizer bar and the stabilizing umbrella do not work under the low-speed condition.
Referring to the attached figure 1, on the basis of the existing single-roll control ejection seat, a pair of pitching rockets is added, wherein a positive pitching rocket is installed below a seat pan, and a negative pitching rocket is installed behind a seat back and used for providing pitching moment. Wherein a is a positive pitch rocket, thrust Ffy; b is a rocket bag and thrust Fh; c negative pitch rocket, thrust Ffy; d is a rolling rocket; e is the axis of ejection
After the ejection starting seat enters the free flight stage, the attitude angle of the seat is recorded in real time
Calculating the value of the sky component A of the rocket packet,
roll angular velocity w in first derivative expression of AxCoefficient CczPitch angle velocity wzCoefficient Cfy。
When A is not greater than L as shown in FIG. 2A1Meanwhile, the rocket bag does not work; when A is larger than the critical value LA1If so, the rocket packet starts to work, and the working time length Trock of the rocket packet starts to time. When the Trock time reaches the total working time of the rocket packet and the real-time height Ht and the real-time speed Vt of the seat are both smaller than the preset height Hset and speed Vset, the lifesaving parachute is ejected, and if the parachute ejection stage is carried out, the posture adjustment is finished; rock: rocket bag working state, true working and false non-working
Psstate: umbrella-shooting state, true umbrella-shooting state, false umbrella-shooting state
And (3) Trock: working time of rocket bag
Tr: total working time of rocket package
LA 1: first critical value of sky-direction component of rocket package
A: component of rocket package in the sky
Ht: real-time height of human-chair system
Hset: preset height of person-chair system
Vt: real-time closing speed of human-chair system
Vset: human-chair system preset speed
Roll rocket and pitch rocket control as shown in fig. 3 and 4: calculating the value of the sky component A of the rocket packet in real time, and judging whether the A exceeds a set critical value LA2If so, the posture of the seat is considered to meet the requirement without enteringAnd (4) line adjustment, otherwise, attitude adjustment is carried out:
wherein, in FIG. 3
Rcz 1: positive rolling rocket state, true operation, false off operation
Rcz 2: negative roll rocket state: true on false off
LA 2: second critical value of space component of rocket packet
Ccz: coefficient of roll angular velocity
Wherein, in FIG. 4
Rfy 1: positive pitch rocket state, true on, false off
Rfy 2: negative pitch rocket state, true operation, false off operation
LA 2: second critical value of space component of rocket packet
Cfy: coefficient of pitch angle velocity
Calculating C in real time before the rocket package finishes workingczA value of (C)cz>0, then the positive rolling rocket works, so that wx>0; if Ccz<0, the negative rolling rocket works to make wx<0; thereby making the roll angular velocity component C in the first derivative of Aczwx>0. Calculate C by the same principlefyA value of (d), judgment CfyPositive or negative of (C)fy>0, positive pitching rocket works, so that wz>0; if Cfy<0, the negative pitching rocket works to enable wz<0, so that the pitch angle velocity component C in the first derivative of Afywz>0。
The first derivative of the seat attitude parameter A is always larger than zero through the work of the attitude rocket, namely the seat attitude is always better adjusted, and the aim of adjusting the seat attitude is fulfilled.
Claims (4)
1. A control method of pitching and rolling postures of an ejection seat based on posture parameter derivation maximizes the total impulse of the rocket package thrust in the sky by adjusting the posture of the seat, and improves the motion trail of the seat as much as possible; the method is characterized in that: on the basis of an ejection seat with a roll attitude rocket, a pair of pitching rockets, namely a positive pitching rocket and a negative pitching rocket, is added for providing a pitching moment required by attitude adjustment, and the attitude of the seat is measured by a rocket package sky direction component A, wherein the value range is-1 to 1;
obtaining the roll angular velocity w from the first derivative expression of AxCoefficient CczAngular pitch wzCoefficient CfyAfter the ejection is started, according to the size of A and coefficient Ccz、CfyThe positive and negative control attitude rocket opening time specifically comprises the following control modes:
when C is presentcz>0, the positive rolling rocket works to make wx>0；
When C is presentcz<0, the negative rolling rocket works to make wx<0；
Thereby making the roll angular velocity component C in the derivative Aczwx>0; in the same way as above, the first and second,
when C is presentfy>0, positive pitching rocket works, so that wz>0；
When C is presentfy<0, the negative pitching rocket works to enable wz<0；
Thereby imparting a derivative of the A with a pitch velocity component Cfywz>0；
When the attitude advantage of the seat exceeds a certain limit, the rocket package can push up the motion trail of the seat, namely A is larger than a certain critical value LA1The rocket bag starts to work; on the contrary, A is smaller than the critical value LA1Rocket package not in operation, wherein LA1Represents a critical value related to rocket packet control, has a value range of 0 to 1, and is related to the model of the seat.
2. The method of claim 1, wherein the positive pitch rocket is mounted below the seat pan in a direction perpendicular to the horizontal plane and upward, and the negative pitch rocket is mounted behind the seat back in a direction along the axis O of the seat bodytXtThrust of shaft, positive pitching rocket and negative pitching rocket is FfyThe force arms are all Lfy。
3. As in claimThe method for controlling the pitching and rolling postures of the ejection seat based on posture parameter derivation, as claimed in claim 1 or 2, is characterized in that the positive rolling rocket is installed on the left side of the seat, the direction of the positive rolling rocket is along the Z axis of the axial system of the seat, the negative rolling rocket is installed on the right side of the seat, the direction of the negative rolling rocket is along the Z axis of the axial system of the seat, the thrust of the positive rolling rocket and the thrust of the negative rolling rocket are both FczThe force arms are all Lcz。
4. The method as claimed in claim 3, wherein the rocket package sky-direction component A is derived, and a pitch angle velocity Wz coefficient C is obtained in a first derivative expression of AfyCoefficient of roll angular velocity Wx CczAnd calculating the positive and negative of the coefficient in real time, and controlling the working start time of the positive and negative pitching rockets according to the positive and negative of the coefficient.
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| CN201811319506.3A CN109466778B (en) | 2018-11-07 | 2018-11-07 | Method for controlling pitching and rolling postures of ejection seat based on posture parameter derivation |
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| CN201811319506.3A CN109466778B (en) | 2018-11-07 | 2018-11-07 | Method for controlling pitching and rolling postures of ejection seat based on posture parameter derivation |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110803301A (en) * | 2019-12-12 | 2020-02-18 | 沈阳航空航天大学 | Novel ejection speed measuring method for ejection of ejection seat out of cabin |
| CN110803290B (en) * | 2019-12-12 | 2022-09-27 | 沈阳航空航天大学 | Novel ejection seat program control method |
| CN111846248A (en) * | 2020-07-27 | 2020-10-30 | 北京京东乾石科技有限公司 | Unmanned aerial vehicle and unmanned aerial vehicle escape method |
| US11465762B2 (en) * | 2020-08-03 | 2022-10-11 | Ami Industries, Inc. | Symmetric roll divergence |
| US20240076048A1 (en) * | 2022-09-02 | 2024-03-07 | Rockwell Collins, Inc. | Ejection seat active roll correction |
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| US5894285A (en) * | 1997-08-29 | 1999-04-13 | Motorola, Inc. | Method and apparatus to sense aircraft pilot ejection for rescue radio actuation |
| GB2438742A (en) * | 2006-06-02 | 2007-12-05 | Ami Ind Inc | A manoeuvring ejection seat for an aircraft |
| CN104029819A (en) * | 2014-06-15 | 2014-09-10 | 李家涛 | Escape seat of aircraft |
| CN106335643A (en) * | 2016-10-18 | 2017-01-18 | 刘继军 | Modularized ejection seat and escaping airplane comprising same |
| CN106375172A (en) * | 2016-08-29 | 2017-02-01 | 航宇救生装备有限公司 | Network interconnection multi-seat program command ejection control system |
| CN108583909A (en) * | 2018-04-17 | 2018-09-28 | 苏州科技大学 | A kind of ejector seat low latitude attitude control method |
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2018
- 2018-11-07 CN CN201811319506.3A patent/CN109466778B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5894285A (en) * | 1997-08-29 | 1999-04-13 | Motorola, Inc. | Method and apparatus to sense aircraft pilot ejection for rescue radio actuation |
| GB2438742A (en) * | 2006-06-02 | 2007-12-05 | Ami Ind Inc | A manoeuvring ejection seat for an aircraft |
| CN104029819A (en) * | 2014-06-15 | 2014-09-10 | 李家涛 | Escape seat of aircraft |
| CN106375172A (en) * | 2016-08-29 | 2017-02-01 | 航宇救生装备有限公司 | Network interconnection multi-seat program command ejection control system |
| CN106335643A (en) * | 2016-10-18 | 2017-01-18 | 刘继军 | Modularized ejection seat and escaping airplane comprising same |
| CN108583909A (en) * | 2018-04-17 | 2018-09-28 | 苏州科技大学 | A kind of ejector seat low latitude attitude control method |
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